36 lines
1 KiB
Python
36 lines
1 KiB
Python
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from ament_index_python.packages import get_package_share_directory
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import os
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def generate_launch_description():
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bt_config = os.path.join(
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get_package_share_directory('rbs_bt_executor'),
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'config',
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'params.yaml'
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)
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points = os.path.join(
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get_package_share_directory('rbs_bt_executor'),
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'config',
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'points.yaml'
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)
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return LaunchDescription([
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Node(
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package='behavior_tree',
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namespace='',
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executable='bt_engine',
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name="bt_engine",
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# Do not declare a node name otherwise it messes with the action node names and will result in
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# duplicate nodes!
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parameters=[
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{'bt_file_path': os.path.join(get_package_share_directory('rbs_bt_queue'), 'bt_xmls/test_tree.xml')},
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{'plugins': ['rbs_skill_move_topose_bt_action_client']},
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points
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]
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),
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])
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